OpenRaiser/Intern-Atlas huggingface dataset:
Segment-Level Road Obstacle Detection Using Visual Foundation Model Priors and Likelihood Ratios
Venue: arXiv cs.CV 2025
Year: 2025

Detecting road obstacles is essential for autonomous vehicles to navigate dynamic and complex traffic environments safely. Current road obstacle detection methods typically assign a score to each pixel and apply a threshold to generate final predictions. However, selecting an appropriate threshold is challenging, and the per-pixel classification approach often leads to fragmented predictions with numerous false positives. In this work, we propose a novel method that leverages segment-level features from visual foundation models and likelihood ratios to predict road obstacles directly. By focusing on segments rather than individual pixels, our approach enhances detection accuracy, reduces false positives, and offers increased robustness to scene variability. We benchmark our approach against existing methods on the RoadObstacle and LostAndFound datasets, achieving state-of-the-art performance without needing a predefined threshold.
PromptRefine: Enhancing Few-Shot Performance on Low-Resource Indic Languages with Example Selection from Related Example Banks
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have recently demonstrated impressive few-shot learning capabilities through in-context learning (ICL). However, ICL performance is highly dependent on the choice of few-shot demonstrations, making the selection of the most optimal examples a persistent research challenge. This issue is further amplified in low-resource Indic languages, where the scarcity of ground-truth data complicates the selection process. In this work, we propose PromptRefine, a novel Alternating Minimization approach for example selection that improves ICL performance on low-resource Indic languages. PromptRefine leverages auxiliary example banks from related high-resource Indic languages and employs multi-task learning techniques to align language-specific retrievers, enabling effective cross-language retrieval. Additionally, we incorporate diversity in the selected examples to enhance generalization and reduce bias. Through comprehensive evaluations on four text generation tasks -- Cross-Lingual Question Answering, Multilingual Question Answering, Machine Translation, and Cross-Lingual Summarization using state-of-the-art LLMs such as LLAMA-3.1-8B, LLAMA-2-7B, Qwen-2-7B, and Qwen-2.5-7B, we demonstrate that PromptRefine significantly outperforms existing frameworks for retrieving examples.
AC-LIO: Towards Asymptotic Compensation for Distortion in LiDAR-Inertial Odometry via Selective Intra-Frame Smoothing
Venue: arXiv cs.RO 2025
Year: 2025

Existing LiDAR-Inertial Odometry (LIO) methods typically utilize the prior trajectory derived from the IMU integration to compensate for the motion distortion within LiDAR frames. However, discrepancies between the prior and true trajectory can lead to residual motion distortions that compromise the consistency of LiDAR frame with its corresponding geometric environment. This imbalance may result in pointcloud registration becoming trapped in local optima, thereby exacerbating drift during long-term and large-scale localization. To this end, we propose a novel LIO framework with selective intra-frame smoothing dubbed AC-LIO. Our core idea is to asymptotically backpropagate current update term and compensate for residual motion distortion under the guidance of convergence criteria, aiming to improve the accuracy of discrete-state LIO system with minimal computational increase. Extensive experiments demonstrate that our AC-LIO framework further enhances odometry accuracy compared to prior arts, with about 30.4% reduction in average RMSE over the second best result, leading to marked improvements in the accuracy of long-term and large-scale localization and mapping.
PAC codes with Bounded-Complexity Sequential Decoding: Pareto Distribution and Code Design
Venue: arXiv cs.IT 2025
Year: 2025

Recently, a novel variation of polar codes known as polarization-adjusted convolutional (PAC) codes has been introduced by Arıkan. These codes significantly outperform conventional polar and convolutional codes, particularly for short codeword lengths, and are shown to operate very close to the optimal bounds. It has also been shown that if the rate profile of PAC codes does not adhere to certain polarized cutoff rate constraints, the computation complexity for their sequential decoding grows exponentially. In this paper, we address the converse problem, demonstrating that if the rate profile of a PAC code follows the polarized cutoff rate constraints, the required computations for its sequential decoding can be bounded with a distribution that follows a Pareto distribution. This serves as a guideline for the rate-profile design of PAC codes. For a high-rate PAC\,$(1024,899)$ code, simulation results show that the PAC code with Fano decoder, when constructed based on the polarized cutoff rate constraints, achieves a coding gain of more than $0.75$ dB at a frame error rate (FER) of $10^{-5}$ compared to the state-of-the-art 5G polar and LDPC codes.
UniPaint: Unified Space-time Video Inpainting via Mixture-of-Experts
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we present UniPaint, a unified generative space-time video inpainting framework that enables spatial-temporal inpainting and interpolation. Different from existing methods that treat video inpainting and video interpolation as two distinct tasks, we leverage a unified inpainting framework to tackle them and observe that these two tasks can mutually enhance synthesis performance. Specifically, we first introduce a plug-and-play space-time video inpainting adapter, which can be employed in various personalized models. The key insight is to propose a Mixture of Experts (MoE) attention to cover various tasks. Then, we design a spatial-temporal masking strategy during the training stage to mutually enhance each other and improve performance. UniPaint produces high-quality and aesthetically pleasing results, achieving the best quantitative results across various tasks and scale setups. The code and checkpoints are available at $\href{https://github.com/mmmmm-w/UniPaint}{this \ repository}$.
Scalable Dendritic Modeling Advances Expressive and Robust Deep Spiking Neural Networks
Venue: arXiv cs.NE 2025
Year: 2025

Dendritic computation endows biological neurons with rich nonlinear integration and high representational capacity, yet it is largely missing in existing deep spiking neural networks (SNNs). Although detailed multi-compartment models can capture dendritic computations, their high computational cost and limited flexibility make them impractical for deep learning. To combine the advantages of dendritic computation and deep network architectures for a powerful, flexible and efficient computational model, we propose the dendritic spiking neuron (DendSN). DendSN explicitly models dendritic morphology and nonlinear integration in a streamlined design, leading to substantially higher expressivity than point neurons and wide compatibility with modern deep SNN architectures. Leveraging the efficient formulation and high-performance Triton kernels, dendritic SNNs (DendSNNs) can be efficiently trained and easily scaled to deeper networks. Experiments show that DendSNNs consistently outperform conventional SNNs on classification tasks. Furthermore, inspired by dendritic modulation and synaptic clustering, we introduce the dendritic branch gating (DBG) algorithm for task-incremental learning, which effectively reduces inter-task interference. Additional evaluations show that DendSNNs exhibit superior robustness to noise and adversarial attacks, along with improved generalization in few-shot learning scenarios. Our work firstly demonstrates the possibility of training deep SNNs with multiple nonlinear dendritic branches, and comprehensively analyzes the impact of dendrite computation on representation learning across various machine learning settings, thereby offering a fresh perspective on advancing SNN design.
Normal Nested Answer Set Programs: Syntactics, Semantics and Logical Calculi
Venue: arXiv cs.LO 2025
Year: 2025

Nested answer set programming (NASP; Lifschitz et al., 1999) generalizes answer set programming (ASP) by admitting nested expressions in rule bodies and heads, and thus, NASP aims at exploiting program succinctness. Yet, although NASP expressiveness is undoubtedly superior to ASP one, the former's reasoning capabilities remain unexplored. This reality seems subsequent to the next existing wide-ranging gap: normal nested programs (NNPs) are not known, or in other words, the nested normal-disjunctive boundary is unidentified thus far. Such an unfavorable situation is yet antagonistic to that of ASP as its normal programs (NPs) have been vital for propelling ASP. We will fill such a gap by defining the NNPs, their semantics and their associated nested logical calculi. Besides, while the unique known way to compute nested programs is unfold them back, we propose to do so in their original form. Firstly, we give the syntax of NNPs. For that, we initially define the positive-Horn nested-expressions and then an NNP rule as one whose head (resp. body) is a positive-Horn (resp. general) nested-expression. Secondly, we set up the semantics of NNPs by lifting to the nesting level, classical NP notions including: answer set, minimal and least model, closedness, supported-ness, immediate consequence operator and program consistency. We besides show that NNP restricted to ASP coincides with NP. Thirdly, we introduce nested logical calculi, concretely, nested unit-resolution and nested hyper unit-resolution, proving that they recover unit-resolution and hyper unit-resolution in the ASP setting. We also show how both nested logical calculi allow to process the least model of not-free NNP programs. To end, we demonstrate that computing answer sets of (resp. not-free) NNP programs is (resp. P-complete) NP-complete.
World-Consistent Data Generation for Vision-and-Language Navigation
Venue: arXiv cs.CV 2025
Year: 2025

Vision-and-Language Navigation (VLN) is a challenging task that requires an agent to navigate through photorealistic environments following natural-language instructions. One main obstacle existing in VLN is data scarcity, leading to poor generalization performance over unseen environments. Though data argumentation is a promising way for scaling up the dataset, how to generate VLN data both diverse and world-consistent remains problematic. To cope with this issue, we propose the world-consistent data generation (WCGEN), an efficacious data-augmentation framework satisfying both diversity and world-consistency, aimed at enhancing the generalization of agents to novel environments. Roughly, our framework consists of two stages, the trajectory stage which leverages a point-cloud based technique to ensure spatial coherency among viewpoints, and the viewpoint stage which adopts a novel angle synthesis method to guarantee spatial and wraparound consistency within the entire observation. By accurately predicting viewpoint changes with 3D knowledge, our approach maintains the world-consistency during the generation procedure. Experiments on a wide range of datasets verify the effectiveness of our method, demonstrating that our data augmentation strategy enables agents to achieve new state-of-the-art results on all navigation tasks, and is capable of enhancing the VLN agents' generalization ability to unseen environments.
Integrating Expert Labels into LLM-based Emission Goal Detection: Example Selection vs Automatic Prompt Design
Venue: arXiv cs.LG 2025
Year: 2025

We address the detection of emission reduction goals in corporate reports, an important task for monitoring companies' progress in addressing climate change. Specifically, we focus on the issue of integrating expert feedback in the form of labeled example passages into LLM-based pipelines, and compare the two strategies of (1) a dynamic selection of few-shot examples and (2) the automatic optimization of the prompt by the LLM itself. Our findings on a public dataset of 769 climate-related passages from real-world business reports indicate that automatic prompt optimization is the superior approach, while combining both methods provides only limited benefit. Qualitative results indicate that optimized prompts do indeed capture many intricacies of the targeted emission goal extraction task.
Small Languages, Big Models: A Study of Continual Training on Languages of Norway
Venue: arXiv cs.CL 2025
Year: 2025

Training large language models requires vast amounts of data, posing a challenge for less widely spoken languages like Norwegian and even more so for truly low-resource languages like Northern Sámi. To address this issue, we present a novel three-stage continual training approach that substantially improves the downstream performance together with the inference efficiency for the target languages. Based on our findings, we train, evaluate, and openly release a new generative language model for Norwegian Bokmål, Nynorsk, and Northern Sámi with 11.4 billion parameters: NorMistral-11B.
Fourier-enhanced reduced-order surrogate modeling for uncertainty quantification in electric machine design
Venue: arXiv cs.CE 2025
Year: 2025

This work proposes a data-driven surrogate modeling framework for cost-effectively inferring the torque of a permanent magnet synchronous machine under geometric design variations. The framework is separated into a reduced-order modeling and an inference part. Given a dataset of torque signals, each corresponding to a different set of design parameters, torque dimension is first reduced by post-processing a discrete Fourier transform and keeping a reduced number of frequency components. This allows to take advantage of torque periodicity and preserve physical information contained in the frequency components. Next, a response surface model is computed by means of machine learning regression, which maps the design parameters to the reduced frequency components. The response surface models of choice are polynomial chaos expansions, feedforward neural networks, and Gaussian processes. Torque inference is performed by evaluating the response surface model for new design parameters and then inverting the dimension reduction. Numerical results show that the resulting surrogate models lead to sufficiently accurate torque predictions for previously unseen design configurations. The framework is found to be significantly advantageous compared to approximating the original (not reduced) torque signal directly, as well as slightly advantageous compared to using principal component analysis for dimension reduction. The combination of discrete Fourier transform-based dimension reduction with Gaussian process-based response surfaces yields the best-in-class surrogate model for this use case. The surrogate models replace the original, high-fidelity model in Monte Carlo-based uncertainty quantification studies, where they provide accurate torque statistics estimates at significantly reduced computational cost.
Examining the Use and Impact of an AI Code Assistant on Developer Productivity and Experience in the Enterprise
Venue: arXiv cs.HC 2025
Year: 2025

AI assistants are being created to help software engineers conduct a variety of coding-related tasks, such as writing, documenting, and testing code. We describe the use of the watsonx Code Assistant (WCA), an LLM-powered coding assistant deployed internally within IBM. Through surveys of two user cohorts (N=669) and unmoderated usability testing (N=15), we examined developers' experiences with WCA and its impact on their productivity. We learned about their motivations for using (or not using) WCA, we examined their expectations of its speed and quality, and we identified new considerations regarding ownership of and responsibility for generated code. Our case study characterizes the impact of an LLM-powered assistant on developers' perceptions of productivity and it shows that although such tools do often provide net productivity increases, these benefits may not always be experienced by all users.
Efficiency Meets Fidelity: A Novel Quantization Framework for Stable Diffusion
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-image generation via Stable Diffusion models (SDM) have demonstrated remarkable capabilities. However, their computational intensity, particularly in the iterative denoising process, hinders real-time deployment in latency-sensitive applications. While Recent studies have explored post-training quantization (PTQ) and quantization-aware training (QAT) methods to compress Diffusion models, existing methods often overlook the consistency between results generated by quantized models and those from floating-point models. This consistency is paramount for professional applications where both efficiency and output reliability are essential. To ensure that quantized SDM generates high-quality and consistent images, we propose an efficient quantization framework for SDM. Our framework introduces a Serial-to-Parallel pipeline that simultaneously maintains training-inference consistency and ensures optimization stability. Building upon this foundation, we further develop several techniques including multi-timestep activation quantization, time information precalculation, inter-layer distillation, and selective freezing, to achieve high-fidelity generation in comparison to floating-point models while maintaining quantization efficiency. Through comprehensive evaluation across multiple Stable Diffusion variants (v1-4, v2-1, XL 1.0, and v3), our method demonstrates superior performance over state-of-the-art approaches with shorter training times. Under W4A8 quantization settings, we achieve significant improvements in both distribution similarity and visual fidelity, while preserving a high image quality.
Toward LLM-Agent-Based Modeling of Transportation Systems: A Conceptual Framework
Venue: arXiv cs.AI 2025
Year: 2025

In transportation system demand modeling and simulation, agent-based models and microsimulations are current state-of-the-art approaches. However, existing agent-based models still have some limitations on behavioral realism and resource demand that limit their applicability. In this study, leveraging the emerging technology of large language models (LLMs) and LLM-based agents, we propose a general LLM-agent-based modeling framework for transportation systems. We argue that LLM agents not only possess the essential capabilities to function as agents but also offer promising solutions to overcome some limitations of existing agent-based models. Our conceptual framework design closely replicates the decision-making and interaction processes and traits of human travelers within transportation networks, and we demonstrate that the proposed systems can meet critical behavioral criteria for decision-making and learning behaviors using related studies and a demonstrative example of LLM agents' learning and adjustment in the bottleneck setting. Although further refinement of the LLM-agent-based modeling framework is necessary, we believe that this approach has the potential to improve transportation system modeling and simulation.
Towards Brain Passage Retrieval -- An Investigation of EEG Query Representations
Venue: arXiv cs.IR 2025
Year: 2025

Information Retrieval (IR) systems primarily rely on users' ability to translate their internal information needs into (text) queries. However, this translation process is often uncertain and cognitively demanding, leading to queries that incompletely or inaccurately represent users' true needs. This challenge is particularly acute for users with ill-defined information needs or physical impairments that limit traditional text input, where the gap between cognitive intent and query expression becomes even more pronounced. Recent neuroscientific studies have explored Brain-Machine Interfaces (BMIs) as a potential solution, aiming to bridge the gap between users' cognitive semantics and their search intentions. However, current approaches attempting to decode explicit text queries from brain signals have shown limited effectiveness in learning robust brain-to-text representations, often failing to capture the nuanced semantic information present in brain patterns. To address these limitations, we propose BPR (Brain Passage Retrieval), a novel framework that eliminates the need for intermediate query translation by enabling direct retrieval of relevant passages from users' brain signals. Our approach leverages dense retrieval architectures to map EEG signals and text passages into a shared semantic space. Through comprehensive experiments on the ZuCo dataset, we demonstrate that BPR achieves up to 8.81% improvement in precision@5 over existing EEG-to-text baselines, while maintaining effectiveness across 30 participants. Our ablation studies reveal the critical role of hard negative sampling and specialised brain encoders in achieving robust cross-modal alignment. These results establish the viability of direct brain-to-passage retrieval and provide a foundation for developing more natural interfaces between users' cognitive states and IR systems.
Asynchronous Agents with Perfect Recall: Model Reductions, Knowledge-Based Construction, and Model Checking for Coalitional Strategies
Venue: arXiv cs.MA 2025
Year: 2025

Model checking of strategic abilities for agents with memory is a notoriously hard problem, and very few attempts have been made to tackle it. In this paper, we present two important steps towards this goal. First, we take the partial-order reduction scheme that was recently proved to preserve individual and coalitional abilities of memoryless agents, and show that it also works for agents with memory. Secondly, we take the Knowledge-Based Subset Construction, that was recently studied for synchronous concurrent games, and adapt it to preserve abilities of memoryful agents in asynchronous MAS. On the way, we also propose a new execution semantics for strategies in asynchronous MAS, that combines elements of Concurrent Game Structures and Interleaved Interpreted Systems in a natural and intuitive way.
VP-MEL: Visual Prompts Guided Multimodal Entity Linking
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal entity linking (MEL), a task aimed at linking mentions within multimodal contexts to their corresponding entities in a knowledge base (KB), has attracted much attention due to its wide applications in recent years. However, existing MEL methods often rely on mention words as retrieval cues, which limits their ability to effectively utilize information from both images and text. This reliance causes MEL to struggle with accurately retrieving entities in certain scenarios, especially when the focus is on image objects or mention words are missing from the text. To solve these issues, we introduce a Visual Prompts guided Multimodal Entity Linking (VP-MEL) task. Given a text-image pair, VP-MEL aims to link a marked region (i.e., visual prompt) in an image to its corresponding entities in the knowledge base. To facilitate this task, we present a new dataset, VPWiki, specifically designed for VP-MEL. Furthermore, we propose a framework named IIER, which enhances visual feature extraction using visual prompts and leverages the pretrained Detective-VLM model to capture latent information. Experimental results on the VPWiki dataset demonstrate that IIER outperforms baseline methods across multiple benchmarks for the VP-MEL task.